local costmap is empty

asked 2020-06-19 11:00:52 -0500

Sieuwe01 gravatar image

updated 2020-06-19 11:18:15 -0500

Hi everyone

I am trying to get the navigation stack working on my turtlebot 2 with melodic and a RPlidar A2 (mounted 70cm above the base). When I start ACML and visualize it in RVIZ I get the following image.


Here is a image showing the topic data which is just a array with zeros. https://ibb.co/wRyyXZC

As you can see the global cost-map is working great but for some reason the local cost-map is not showing any obstacles while there definitely are obstacles in the room.

Here are my parameter files:

Costmap Common params: https://pastebin.com/DZNFC5ug

Costmap params: https://pastebin.com/2FPFbh2k

local costmap params: https://pastebin.com/qb7MZ7VL

dwa local planner params https://pastebin.com/Gx6NYWbk

For some reason I I cant use the paste code option that is why I use pastebin.

Also the local costmap did work. But for some reason it broke because it ran, then I closed all the nodes and rviz, then (maybe I changed something I cant remember) , then I restarted and it was not working anymore. I tried to change everything back to original to get the map working again but this did not work. I really dont know what changed.



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@Sieuwe01 did you get this issue resolved? If so, what changes did you make for it to be resolved? I'm also having a similar problem and thought that you could help by answering your question. Can you also include a screenshot of your rqt_graph and also for the command: rostopic list; after running the necessary launch files Thank you

pk99 gravatar image pk99  ( 2021-04-24 02:30:44 -0500 )edit